書誌事項
- タイトル別名
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- Optimizing Resolution for Feature Extraction in Robotic Motion Learning
- ブンカイノウ ノ チョウセツ カノウナ ガゾウ ジョウホウ カラノ ジョウタイ クウカン ノ コウセイ
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抄録
This paper presents a feature extraction method for robotic motion learning that optimizes image resolution that is suitable to the task, thereby minimizing computation time. It utilizes mean-shift algorithms and principal component analysis for feature extraction, reinforcement learning for motion learning, and a trial and error algorithm for finding the appropriate resolution. The proposed feature extraction method was applied to a robot manipulation task. When applied to a manipulator pushing an object, the resolution adjustment method reduced the task time from approximately one minute to 21 seconds, which was caused by the appropriate selection of image resolution, while the performance of manipulation was maintained.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 25 (5), 770-778, 2007
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702959232
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- NII論文ID
- 10019583811
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 8891096
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可